The Office Marathon: Robust navigation in an indoor office environment

Abstract-- This paper describes a navigation system that allowed a robot to complete 26.2 miles of autonomous navigation in a real office environment. We present the methods required to achieve this level of robustness, including an efficient Voxelbased 3D mapping algorithm that explicitly models unknown space. We also provide an open-source implementation of the algorithms used, as well as simulated environments in which our results can be verified.

• Type: Journal
• Year: 2010
• Where: ICRA
• Authors: Eitan Marder-Eppstein, Eric Berger, Tully Foote, Brian P. Gerkey, Kurt Konolige
• Keywords: Autonomous Navigation, ICRA 2010, Real Office Environment, Robotics, Unknown Space